zhongyanSun
commented
9 months ago ICP has converged, score is 0.00902066 the mean is 0.0772869 the mean is 0.122158 [ INFO] [1695298603.061644085]: The rmse of unknown cloud to template cloud is: 0.055203 [ INFO] [1695298603.061657090]: The rmse of template cloud to unknown cloud is: 0.085340 [ INFO] [1695298603.061669426]: The mean of rmse is: 0.070272 [ INFO] [1695298603.061742481]: Remianing 1 points in cloud [ WARN] [1695298603.061854714]: PointCloud represneting the Cluster: 895 data points. [ WARN] [1695298603.063329502]: <<<<<< [Laser] Could not estimate a planar model for the given dataset. [ WARN] [1695298603.063418182]: PointCloud represneting the Cluster: 833 data points. [ WARN] [1695298603.065246230]: <<<<<< [Laser] Could not estimate a planar model for the given dataset. [ WARN] [1695298603.065343358]: PointCloud represneting the Cluster: 695 data points. [ WARN] [1695298603.066876079]: <<<<<< [Laser] Could not estimate a planar model for the given dataset. [ WARN] [1695298603.090869317]: <<<<<< [velo_16] CANNOT find the calib borad! 算法支持16线的激光吗？录数据的时有什么额外需要注意的吗
Clothooo
junzhang2016
ICP has converged, score is 0.0618294 the mean is 0.156037 the mean is 0.249597 [ INFO] [1695296928.393437322]: The rmse of unknown cloud to template cloud is: 0.193602 [ INFO] [1695296928.393453946]: The rmse of template cloud to unknown cloud is: 0.147167 [ INFO] [1695296928.393462795]: The mean of rmse is: 0.170385 [ INFO] [1695296928.393539736]: Remianing 708 points in cloud [ WARN] [1695296928.393831620]: Segmentation No.4 spend[0.000000ms] number of point clouds in the plane: 410 min_to_rm: 0 max_to_rm: 30 size after intensity filter: 59 size of boudary: 57 [pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters. [ WARN] [1695296928.402370885]: ICP hasn't converged! the mean is 1.7786 the mean is 1.67792 [ INFO] [1695296928.404290810]: The rmse of unknown cloud to template cloud is: 0.409431 [ INFO] [1695296928.404315916]: The rmse of template cloud to unknown cloud is: 0.314987 [ INFO] [1695296928.404328926]: The mean of rmse is: 0.362209 [ INFO] [1695296928.404423313]: Remianing 298 points in cloud [ WARN] [1695296928.404860121]: PointCloud represneting the Cluster: 2303 data points. [ WARN] [1695296928.409570158]: Segmentation No.5 spend[4.000000ms] number of point clouds in the plane: 829 min_to_rm: 0 max_to_rm: 30 size after intensity filter: 764 size of boudary: 318 您好，请问，终端里一直输出上面的内容，在rviz里没有激光点云的标定版平面，终端里也一直没有velo_16的数字累积。我用的是16线的velodyne激光，标定版与您提到的一致。请问该如何解决？如何调整参数？